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Line 41... |
| 41 |
signed int ble; |
41 |
signed int ble; |
| 42 |
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42 |
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| 43 |
Motor = analogRead(A0); |
43 |
Motor = analogRead(A0); |
| 44 |
Rudder = analogRead(A1); |
44 |
Rudder = analogRead(A1); |
| 45 |
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45 |
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| - |
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46 |
//!!! |
| - |
|
47 |
Serial.print(Motor, DEC); |
| - |
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48 |
Serial.print(" * "); |
| - |
|
49 |
Serial.println(Rudder, DEC); |
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50 |
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| 46 |
Motor = MotorOffset - Motor; |
51 |
Motor = MotorOffset - Motor; |
| - |
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52 |
Rudder=1023-Rudder; |
| 47 |
Rudder = 512 - ((RudderOffset - Rudder)<<2); |
53 |
Rudder = 512 - ((RudderOffset - Rudder)<<2); |
| 48 |
Motor>>=2; |
54 |
Motor>>=2; |
| 49 |
Rudder>>=2; |
55 |
Rudder>>=2; |
| 50 |
if (Motor>200) Motor=0; |
56 |
if (Motor>200) Motor=0; // Odstranit pro programovani regulatoru |
| 51 |
if (Rudder>250) Rudder=0; |
57 |
if (Rudder>250) Rudder=0; |
| - |
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58 |
//if (Rudder<71) Rudder=71; |
| 52 |
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59 |
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| 53 |
Check=Motor+Rudder; |
60 |
Check=Motor+Rudder; |
| 54 |
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61 |
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| 55 |
_tx_buffer[0]=(unsigned char)Motor; |
62 |
_tx_buffer[0]=(unsigned char)Motor; |
| 56 |
_tx_buffer[1]=(unsigned char)Rudder; |
63 |
_tx_buffer[1]=(unsigned char)Rudder; |